Static output feedback control of a chain of integrators with input constraints using multiple saturations and delays

Using multiple saturations and delays, we present a time-domain static output feedback control approach for global stabilization of a chain of integrators with input constraints. In lieu of estimating the state by observers, we utilize the output with distinct delays to construct static output feedback control laws. A nested saturation design technique is employed to handle the nonlinearity in the control. An appealing feature of the proposed nonlinear controllers is that no observer is needed. The bounded and static output feedback control scheme is validated by an application to the triple integrators.